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Vol: 61(75) No: 1 / March 2016      

Predictive Distributed Formation Control for Swarm Robots Using Mobile Agents
Claudiu Radu Pozna
Transylvania University Brasov, B-dul Eroilor nr.29, 500036 Brasov, Romania, phone: +36 (96) 613-652 348, e-mail: pozna@sze.hu
Erno Horvath
Széchenyi István University, Faculty of Computer Engineering, Egyetem sq. 1. H-9026 Győr, Hungary, phone: +36 (96) 613-652 337, e-mail: herno@sze.hu, web: http://www.sze.hu/~herno/

Keywords: LIDAR, laser scanner, Sick S300, mobile robots

The laser scanner is widely used proximity sensor in the filed of autonomous vehicles and robots. The laser scanner works on the time-of-flight principle so it measures the time when a laser beam is emitted and received thus the distance can be calculated. In practice it laser scanner often used as a synonim of lidar which term is created as a portmanteau of \"light\" and \"radar\". In this paper a special kind of laser scanner is used where the measurements are a group of 540 distance measurements obtained from different firing angles. This laser scanner is the Sick S300 which has a 270° scan angle in an angular resolution of 0.5°. This paper describes an abstraction of this group of measurements form 540 to 3 which still can be used in simple navigation tasks. This paper presents the definition of the abstraction and a use-case where the mentioned abstraction can be simulated.

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